HingeJoint.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A body that has a box shape
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef GAZEBO_PHYSICS_HINGEJOINT_HH_
23 #define GAZEBO_PHYSICS_HINGEJOINT_HH_
24 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
36  template<class T>
37  class GZ_PHYSICS_VISIBLE HingeJoint : public T
38  {
41  public: HingeJoint(BasePtr _parent) : T(_parent)
42  { this->AddType(Base::HINGE_JOINT); }
44  public: virtual ~HingeJoint()
45  { }
46 
47  // Documentation inherited.
48  public: virtual unsigned int DOF() const
49  {return 1;}
50 
53  public: virtual void Load(sdf::ElementPtr _sdf)
54  {
55  T::Load(_sdf);
56  }
57 
59  protected: virtual void Init()
60  {
61  T::Init();
62  }
63  };
65  }
66 }
67 #endif
68 
HingeJoint type.
Definition: Base.hh:104
Forward declarations for the common classes.
Definition: Animation.hh:33
virtual ~HingeJoint()
Destructor.
Definition: HingeJoint.hh:44
A single axis hinge joint.
Definition: HingeJoint.hh:37
HingeJoint(BasePtr _parent)
Constructor.
Definition: HingeJoint.hh:41
virtual unsigned int DOF() const
Definition: HingeJoint.hh:48
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
Definition: HingeJoint.hh:53
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
virtual void Init()
Initialize joint.
Definition: HingeJoint.hh:59